<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>OpenLoong Dynamics Control: Pin_KinDyn Class Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/x-mathjax-config">
  MathJax.Hub.Config({
    extensions: ["tex2jax.js"],
    jax: ["input/TeX","output/HTML-CSS"],
});
</script>
<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/MathJax.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">OpenLoong Dynamics Control
   &#160;<span id="projectnumber">v0.1.0</span>
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','Search');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

</div><!-- top -->
<div class="header">
  <div class="summary">
<a href="#nested-classes">Classes</a> &#124;
<a href="#pub-types">Public Types</a> &#124;
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="classPin__KinDyn-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">Pin_KinDyn Class Reference</div>  </div>
</div><!--header-->
<div class="contents">
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPin__KinDyn_1_1IkRes.html">IkRes</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a611e5a3180d568a0d8be21a917ab3880"><td class="memItemLeft" align="right" valign="top"><a id="a611e5a3180d568a0d8be21a917ab3880"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>legIdx</b> { <b>left</b>
, <b>right</b>
 }</td></tr>
<tr class="separator:a611e5a3180d568a0d8be21a917ab3880"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ae93c8e81370ff96aa2dc26ff9c92b0a0"><td class="memItemLeft" align="right" valign="top"><a id="ae93c8e81370ff96aa2dc26ff9c92b0a0"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>Pin_KinDyn</b> (std::string urdf_pathIn)</td></tr>
<tr class="separator:ae93c8e81370ff96aa2dc26ff9c92b0a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a432f42a03a22037c6e5372559269a711"><td class="memItemLeft" align="right" valign="top"><a id="a432f42a03a22037c6e5372559269a711"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>dataBusRead</b> (<a class="el" href="structDataBus.html">DataBus</a> const &amp;robotState)</td></tr>
<tr class="separator:a432f42a03a22037c6e5372559269a711"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a11219e9adc1cdbc5ed664c173d1300a8"><td class="memItemLeft" align="right" valign="top"><a id="a11219e9adc1cdbc5ed664c173d1300a8"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>dataBusWrite</b> (<a class="el" href="structDataBus.html">DataBus</a> &amp;robotState)</td></tr>
<tr class="separator:a11219e9adc1cdbc5ed664c173d1300a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d2d699d8fb1754f980477615515638c"><td class="memItemLeft" align="right" valign="top"><a id="a3d2d699d8fb1754f980477615515638c"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>computeJ_dJ</b> ()</td></tr>
<tr class="separator:a3d2d699d8fb1754f980477615515638c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7fc88a3c811004ff7feb508dce849e65"><td class="memItemLeft" align="right" valign="top"><a id="a7fc88a3c811004ff7feb508dce849e65"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>computeDyn</b> ()</td></tr>
<tr class="separator:a7fc88a3c811004ff7feb508dce849e65"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afd752ffe2b038e1386023d41326574c8"><td class="memItemLeft" align="right" valign="top"><a id="afd752ffe2b038e1386023d41326574c8"></a>
<a class="el" href="structPin__KinDyn_1_1IkRes.html">IkRes</a>&#160;</td><td class="memItemRight" valign="bottom"><b>computeInK_Leg</b> (const Eigen::Matrix3d &amp;Rdes_L, const Eigen::Vector3d &amp;Pdes_L, const Eigen::Matrix3d &amp;Rdes_R, const Eigen::Vector3d &amp;Pdes_R)</td></tr>
<tr class="separator:afd752ffe2b038e1386023d41326574c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e90245dd880ed9dc08de1e745242e96"><td class="memItemLeft" align="right" valign="top"><a id="a8e90245dd880ed9dc08de1e745242e96"></a>
<a class="el" href="structPin__KinDyn_1_1IkRes.html">IkRes</a>&#160;</td><td class="memItemRight" valign="bottom"><b>computeInK_Hand</b> (const Eigen::Matrix3d &amp;Rdes_L, const Eigen::Vector3d &amp;Pdes_L, const Eigen::Matrix3d &amp;Rdes_R, const Eigen::Vector3d &amp;Pdes_R)</td></tr>
<tr class="separator:a8e90245dd880ed9dc08de1e745242e96"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab80c3e1eded085ad3212d533e6508f20"><td class="memItemLeft" align="right" valign="top"><a id="ab80c3e1eded085ad3212d533e6508f20"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><b>integrateDIY</b> (const Eigen::VectorXd &amp;qI, const Eigen::VectorXd &amp;dqI)</td></tr>
<tr class="separator:ab80c3e1eded085ad3212d533e6508f20"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5268234bf043cf654a03ce51dfa315e1"><td class="memItemLeft" align="right" valign="top"><a id="a5268234bf043cf654a03ce51dfa315e1"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>workspaceConstraint</b> (Eigen::VectorXd &amp;qFT, Eigen::VectorXd &amp;tauJointFT)</td></tr>
<tr class="separator:a5268234bf043cf654a03ce51dfa315e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a61b9dfb8b579bbe132c0f1e48d2b4db7"><td class="memItemLeft" align="right" valign="top"><a id="a61b9dfb8b579bbe132c0f1e48d2b4db7"></a>
static Eigen::Quaterniond&#160;</td><td class="memItemRight" valign="bottom"><b>intQuat</b> (const Eigen::Quaterniond &amp;quat, const Eigen::Matrix&lt; double, 3, 1 &gt; &amp;w)</td></tr>
<tr class="separator:a61b9dfb8b579bbe132c0f1e48d2b4db7"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a6235d4189f80a1b2ccc5cfeb6c549ca3"><td class="memItemLeft" align="right" valign="top"><a id="a6235d4189f80a1b2ccc5cfeb6c549ca3"></a>
std::vector&lt; bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>motorReachLimit</b></td></tr>
<tr class="separator:a6235d4189f80a1b2ccc5cfeb6c549ca3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1a645b13e20a97675f7d7f88ce32d3e2"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; std::string &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>motorName</b></td></tr>
<tr class="separator:a1a645b13e20a97675f7d7f88ce32d3e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a81eda1dcd228a9ab0c1d7de3993e6bf6"><td class="memItemLeft" align="right" valign="top"><a id="a81eda1dcd228a9ab0c1d7de3993e6bf6"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><b>motorMaxTorque</b></td></tr>
<tr class="separator:a81eda1dcd228a9ab0c1d7de3993e6bf6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b0c660fb563a580dde4f7d21d1737b0"><td class="memItemLeft" align="right" valign="top"><a id="a2b0c660fb563a580dde4f7d21d1737b0"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><b>motorMaxPos</b></td></tr>
<tr class="separator:a2b0c660fb563a580dde4f7d21d1737b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0b23dde50899e66163d9ba2794c27ded"><td class="memItemLeft" align="right" valign="top"><a id="a0b23dde50899e66163d9ba2794c27ded"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><b>motorMinPos</b></td></tr>
<tr class="separator:a0b23dde50899e66163d9ba2794c27ded"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a697a29a765cf30888bbf5bcd3c30da02"><td class="memItemLeft" align="right" valign="top"><a id="a697a29a765cf30888bbf5bcd3c30da02"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><b>tauJointOld</b></td></tr>
<tr class="separator:a697a29a765cf30888bbf5bcd3c30da02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41fd7d14a83467e248a4392cddafd0d3"><td class="memItemLeft" align="right" valign="top"><a id="a41fd7d14a83467e248a4392cddafd0d3"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><b>urdf_path</b></td></tr>
<tr class="separator:a41fd7d14a83467e248a4392cddafd0d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acfbedd4d0d51b70d5841abf29f16f25f"><td class="memItemLeft" align="right" valign="top"><a id="acfbedd4d0d51b70d5841abf29f16f25f"></a>
pinocchio::Model&#160;</td><td class="memItemRight" valign="bottom"><b>model_biped</b></td></tr>
<tr class="separator:acfbedd4d0d51b70d5841abf29f16f25f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4aeb4ee392f40d4f1b75a905500286f6"><td class="memItemLeft" align="right" valign="top"><a id="a4aeb4ee392f40d4f1b75a905500286f6"></a>
pinocchio::Model&#160;</td><td class="memItemRight" valign="bottom"><b>model_biped_fixed</b></td></tr>
<tr class="separator:a4aeb4ee392f40d4f1b75a905500286f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aba6977419785158480f4695fd3fec5dc"><td class="memItemLeft" align="right" valign="top"><a id="aba6977419785158480f4695fd3fec5dc"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>model_nv</b></td></tr>
<tr class="separator:aba6977419785158480f4695fd3fec5dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acdf0835fded44fbe593855434315dd09"><td class="memItemLeft" align="right" valign="top"><a id="acdf0835fded44fbe593855434315dd09"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>r_ankle_joint</b></td></tr>
<tr class="separator:acdf0835fded44fbe593855434315dd09"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17964f57048d80c30e9302eb627d1be8"><td class="memItemLeft" align="right" valign="top"><a id="a17964f57048d80c30e9302eb627d1be8"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>l_ankle_joint</b></td></tr>
<tr class="separator:a17964f57048d80c30e9302eb627d1be8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a906af197c73e9bc2567cd3fdd26c47"><td class="memItemLeft" align="right" valign="top"><a id="a7a906af197c73e9bc2567cd3fdd26c47"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>base_joint</b></td></tr>
<tr class="separator:a7a906af197c73e9bc2567cd3fdd26c47"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ee3756210eac61d305f8acaa0246a86"><td class="memItemLeft" align="right" valign="top"><a id="a0ee3756210eac61d305f8acaa0246a86"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>r_hip_joint</b></td></tr>
<tr class="separator:a0ee3756210eac61d305f8acaa0246a86"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a15f6c9ca92e4df61e4debb131993f326"><td class="memItemLeft" align="right" valign="top"><a id="a15f6c9ca92e4df61e4debb131993f326"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>l_hip_joint</b></td></tr>
<tr class="separator:a15f6c9ca92e4df61e4debb131993f326"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a53383efe3ff12828f2211f877746f596"><td class="memItemLeft" align="right" valign="top"><a id="a53383efe3ff12828f2211f877746f596"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>r_hip_roll_joint</b></td></tr>
<tr class="separator:a53383efe3ff12828f2211f877746f596"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e1c0890c0e660781db9b589bfe7e9d2"><td class="memItemLeft" align="right" valign="top"><a id="a7e1c0890c0e660781db9b589bfe7e9d2"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>l_hip_roll_joint</b></td></tr>
<tr class="separator:a7e1c0890c0e660781db9b589bfe7e9d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0062ef77379526221164c66e5a5053f9"><td class="memItemLeft" align="right" valign="top"><a id="a0062ef77379526221164c66e5a5053f9"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>waist_yaw_joint</b></td></tr>
<tr class="separator:a0062ef77379526221164c66e5a5053f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3334a090a7dc4a7a8bb34e2d331d1353"><td class="memItemLeft" align="right" valign="top"><a id="a3334a090a7dc4a7a8bb34e2d331d1353"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>r_ankle_joint_fixed</b></td></tr>
<tr class="separator:a3334a090a7dc4a7a8bb34e2d331d1353"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a11918e1ae710570cf7abfe44404fba8b"><td class="memItemLeft" align="right" valign="top"><a id="a11918e1ae710570cf7abfe44404fba8b"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>l_ankle_joint_fixed</b></td></tr>
<tr class="separator:a11918e1ae710570cf7abfe44404fba8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa87aa5140169a923120ebab9919dc459"><td class="memItemLeft" align="right" valign="top"><a id="aa87aa5140169a923120ebab9919dc459"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>r_hip_joint_fixed</b></td></tr>
<tr class="separator:aa87aa5140169a923120ebab9919dc459"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a98a154603b33b463d460d69c7b17840f"><td class="memItemLeft" align="right" valign="top"><a id="a98a154603b33b463d460d69c7b17840f"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>l_hip_joint_fixed</b></td></tr>
<tr class="separator:a98a154603b33b463d460d69c7b17840f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aec4403f513a85faa9d174f4765228036"><td class="memItemLeft" align="right" valign="top"><a id="aec4403f513a85faa9d174f4765228036"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>r_hand_joint</b></td></tr>
<tr class="separator:aec4403f513a85faa9d174f4765228036"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad1ca47fdcc64bb1e42ec810c56fa75ce"><td class="memItemLeft" align="right" valign="top"><a id="ad1ca47fdcc64bb1e42ec810c56fa75ce"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>l_hand_joint</b></td></tr>
<tr class="separator:ad1ca47fdcc64bb1e42ec810c56fa75ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6d2f0758c1518778d31e54a67da88b30"><td class="memItemLeft" align="right" valign="top"><a id="a6d2f0758c1518778d31e54a67da88b30"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>r_hand_joint_fixed</b></td></tr>
<tr class="separator:a6d2f0758c1518778d31e54a67da88b30"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6c18059312aa6efa998002b128769cf5"><td class="memItemLeft" align="right" valign="top"><a id="a6c18059312aa6efa998002b128769cf5"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>l_hand_joint_fixed</b></td></tr>
<tr class="separator:a6c18059312aa6efa998002b128769cf5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6454448c08ce057ec17466dcafd96666"><td class="memItemLeft" align="right" valign="top"><a id="a6454448c08ce057ec17466dcafd96666"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><b>q</b></td></tr>
<tr class="separator:a6454448c08ce057ec17466dcafd96666"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a246c8be67c0f4cadbd6ff9f6289d8808"><td class="memItemLeft" align="right" valign="top"><a id="a246c8be67c0f4cadbd6ff9f6289d8808"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><b>dq</b></td></tr>
<tr class="separator:a246c8be67c0f4cadbd6ff9f6289d8808"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a635e50f51c600f0cf05d5dc0d60546"><td class="memItemLeft" align="right" valign="top"><a id="a7a635e50f51c600f0cf05d5dc0d60546"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><b>ddq</b></td></tr>
<tr class="separator:a7a635e50f51c600f0cf05d5dc0d60546"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a879924f751764037e0c43570ac40ffab"><td class="memItemLeft" align="right" valign="top"><a id="a879924f751764037e0c43570ac40ffab"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>Rcur</b></td></tr>
<tr class="separator:a879924f751764037e0c43570ac40ffab"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af0fb61fda80f8ddb27a0bf84ea112f31"><td class="memItemLeft" align="right" valign="top"><a id="af0fb61fda80f8ddb27a0bf84ea112f31"></a>
Eigen::Quaternion&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>quatCur</b></td></tr>
<tr class="separator:af0fb61fda80f8ddb27a0bf84ea112f31"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac335fde0745d539bef344a04a91e54bd"><td class="memItemLeft" align="right" valign="top"><a id="ac335fde0745d539bef344a04a91e54bd"></a>
Eigen::Matrix&lt; double, 6,-1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>J_r</b></td></tr>
<tr class="separator:ac335fde0745d539bef344a04a91e54bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae6b57d24eded0d43a70a445d78591492"><td class="memItemLeft" align="right" valign="top"><a id="ae6b57d24eded0d43a70a445d78591492"></a>
Eigen::Matrix&lt; double, 6,-1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>J_l</b></td></tr>
<tr class="separator:ae6b57d24eded0d43a70a445d78591492"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae3cd2560cf426406f5793207c4f0e4e9"><td class="memItemLeft" align="right" valign="top"><a id="ae3cd2560cf426406f5793207c4f0e4e9"></a>
Eigen::Matrix&lt; double, 6,-1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>J_hd_r</b></td></tr>
<tr class="separator:ae3cd2560cf426406f5793207c4f0e4e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6b8555b5bb662917205f049a1dbe7579"><td class="memItemLeft" align="right" valign="top"><a id="a6b8555b5bb662917205f049a1dbe7579"></a>
Eigen::Matrix&lt; double, 6,-1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>J_hd_l</b></td></tr>
<tr class="separator:a6b8555b5bb662917205f049a1dbe7579"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a008d32126ffcbcedca97536d8adeeead"><td class="memItemLeft" align="right" valign="top"><a id="a008d32126ffcbcedca97536d8adeeead"></a>
Eigen::Matrix&lt; double, 6,-1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>J_base</b></td></tr>
<tr class="separator:a008d32126ffcbcedca97536d8adeeead"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a25adbc070346b4c56a29ffcad2567b5d"><td class="memItemLeft" align="right" valign="top"><a id="a25adbc070346b4c56a29ffcad2567b5d"></a>
Eigen::Matrix&lt; double, 6,-1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>J_hip_link</b></td></tr>
<tr class="separator:a25adbc070346b4c56a29ffcad2567b5d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2d202d504bccb622fc66156432b9d0f"><td class="memItemLeft" align="right" valign="top"><a id="ac2d202d504bccb622fc66156432b9d0f"></a>
Eigen::Matrix&lt; double, 6,-1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>dJ_r</b></td></tr>
<tr class="separator:ac2d202d504bccb622fc66156432b9d0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a85489301936f12e00e58a9a997dea33e"><td class="memItemLeft" align="right" valign="top"><a id="a85489301936f12e00e58a9a997dea33e"></a>
Eigen::Matrix&lt; double, 6,-1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>dJ_l</b></td></tr>
<tr class="separator:a85489301936f12e00e58a9a997dea33e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6be84a91b4458187f9741e0050f95fd5"><td class="memItemLeft" align="right" valign="top"><a id="a6be84a91b4458187f9741e0050f95fd5"></a>
Eigen::Matrix&lt; double, 6,-1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>dJ_hd_r</b></td></tr>
<tr class="separator:a6be84a91b4458187f9741e0050f95fd5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a632f7851accd83d244334825852aeab6"><td class="memItemLeft" align="right" valign="top"><a id="a632f7851accd83d244334825852aeab6"></a>
Eigen::Matrix&lt; double, 6,-1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>dJ_hd_l</b></td></tr>
<tr class="separator:a632f7851accd83d244334825852aeab6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06e2a072eed15e3b187d86bc95c4ef83"><td class="memItemLeft" align="right" valign="top"><a id="a06e2a072eed15e3b187d86bc95c4ef83"></a>
Eigen::Matrix&lt; double, 6,-1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>dJ_base</b></td></tr>
<tr class="separator:a06e2a072eed15e3b187d86bc95c4ef83"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abcabcf1e068df34fcc8324ec568a75f5"><td class="memItemLeft" align="right" valign="top"><a id="abcabcf1e068df34fcc8324ec568a75f5"></a>
Eigen::Matrix&lt; double, 6,-1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>dJ_hip_link</b></td></tr>
<tr class="separator:abcabcf1e068df34fcc8324ec568a75f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaf29a66c38d8145d97817e32b1e10bb2"><td class="memItemLeft" align="right" valign="top"><a id="aaf29a66c38d8145d97817e32b1e10bb2"></a>
Eigen::Matrix&lt; double, 3,-1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Jcom</b></td></tr>
<tr class="separator:aaf29a66c38d8145d97817e32b1e10bb2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae6cb6e20875996c6243cc289f6bf127c"><td class="memItemLeft" align="right" valign="top"><a id="ae6cb6e20875996c6243cc289f6bf127c"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>fe_r_pos</b></td></tr>
<tr class="separator:ae6cb6e20875996c6243cc289f6bf127c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ade120aa2bb6cfbf18868b666e77e4711"><td class="memItemLeft" align="right" valign="top"><a id="ade120aa2bb6cfbf18868b666e77e4711"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>fe_l_pos</b></td></tr>
<tr class="separator:ade120aa2bb6cfbf18868b666e77e4711"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a79512bb0eb39b4ba78d0c36ce1a739cf"><td class="memItemLeft" align="right" valign="top"><a id="a79512bb0eb39b4ba78d0c36ce1a739cf"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>base_pos</b></td></tr>
<tr class="separator:a79512bb0eb39b4ba78d0c36ce1a739cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab39ac8df8d6b69f53d985eca28177b34"><td class="memItemLeft" align="right" valign="top"><a id="ab39ac8df8d6b69f53d985eca28177b34"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>fe_r_pos_body</b></td></tr>
<tr class="separator:ab39ac8df8d6b69f53d985eca28177b34"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afed034fe61edaa6aa36df8c901fc9e28"><td class="memItemLeft" align="right" valign="top"><a id="afed034fe61edaa6aa36df8c901fc9e28"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>fe_l_pos_body</b></td></tr>
<tr class="separator:afed034fe61edaa6aa36df8c901fc9e28"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aba5b9af499a3c3f81f490b54e34991c6"><td class="memItemLeft" align="right" valign="top"><a id="aba5b9af499a3c3f81f490b54e34991c6"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>hd_r_pos</b></td></tr>
<tr class="separator:aba5b9af499a3c3f81f490b54e34991c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8de858c5bd62babd3d36df437e08be92"><td class="memItemLeft" align="right" valign="top"><a id="a8de858c5bd62babd3d36df437e08be92"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>hd_l_pos</b></td></tr>
<tr class="separator:a8de858c5bd62babd3d36df437e08be92"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aac50fbd6bdff3bc838de986315bf8cd7"><td class="memItemLeft" align="right" valign="top"><a id="aac50fbd6bdff3bc838de986315bf8cd7"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>hd_r_pos_body</b></td></tr>
<tr class="separator:aac50fbd6bdff3bc838de986315bf8cd7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5eba5c788410fe05e5fe243631f9e3b2"><td class="memItemLeft" align="right" valign="top"><a id="a5eba5c788410fe05e5fe243631f9e3b2"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>hd_l_pos_body</b></td></tr>
<tr class="separator:a5eba5c788410fe05e5fe243631f9e3b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc16893d044c20781a288c5c1710257f"><td class="memItemLeft" align="right" valign="top"><a id="afc16893d044c20781a288c5c1710257f"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>hip_r_pos</b></td></tr>
<tr class="separator:afc16893d044c20781a288c5c1710257f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a49cf98ca47a3074a6318dfb72227913a"><td class="memItemLeft" align="right" valign="top"><a id="a49cf98ca47a3074a6318dfb72227913a"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>hip_l_pos</b></td></tr>
<tr class="separator:a49cf98ca47a3074a6318dfb72227913a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8ceb426f4bccfb4066a5b0738de94177"><td class="memItemLeft" align="right" valign="top"><a id="a8ceb426f4bccfb4066a5b0738de94177"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>hip_link_pos</b></td></tr>
<tr class="separator:a8ceb426f4bccfb4066a5b0738de94177"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a541ccf408ed784361c031921a93137db"><td class="memItemLeft" align="right" valign="top"><a id="a541ccf408ed784361c031921a93137db"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>hip_r_pos_body</b></td></tr>
<tr class="separator:a541ccf408ed784361c031921a93137db"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a63a9d828bf82b54e7f6af65267b00b87"><td class="memItemLeft" align="right" valign="top"><a id="a63a9d828bf82b54e7f6af65267b00b87"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>hip_l_pos_body</b></td></tr>
<tr class="separator:a63a9d828bf82b54e7f6af65267b00b87"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad688ad41ea35895f8e388c3a57cd74e2"><td class="memItemLeft" align="right" valign="top"><a id="ad688ad41ea35895f8e388c3a57cd74e2"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>hip_link_rot</b></td></tr>
<tr class="separator:ad688ad41ea35895f8e388c3a57cd74e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adcb1509a37999bcbf637a95786b19efa"><td class="memItemLeft" align="right" valign="top"><a id="adcb1509a37999bcbf637a95786b19efa"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>fe_r_rot</b></td></tr>
<tr class="separator:adcb1509a37999bcbf637a95786b19efa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac4040e935721db8ea7cf0fad90599ad7"><td class="memItemLeft" align="right" valign="top"><a id="ac4040e935721db8ea7cf0fad90599ad7"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>fe_l_rot</b></td></tr>
<tr class="separator:ac4040e935721db8ea7cf0fad90599ad7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a743c47fe851c5dee9b852b760e9bf809"><td class="memItemLeft" align="right" valign="top"><a id="a743c47fe851c5dee9b852b760e9bf809"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>base_rot</b></td></tr>
<tr class="separator:a743c47fe851c5dee9b852b760e9bf809"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adbc3d08c55bc3f94acf14cfe7e735eb3"><td class="memItemLeft" align="right" valign="top"><a id="adbc3d08c55bc3f94acf14cfe7e735eb3"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>fe_r_rot_body</b></td></tr>
<tr class="separator:adbc3d08c55bc3f94acf14cfe7e735eb3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab48b18384639b211ac70cdb670a6dd90"><td class="memItemLeft" align="right" valign="top"><a id="ab48b18384639b211ac70cdb670a6dd90"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>fe_l_rot_body</b></td></tr>
<tr class="separator:ab48b18384639b211ac70cdb670a6dd90"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6e72e11b7c2a7c648a9599e9e912a6f8"><td class="memItemLeft" align="right" valign="top"><a id="a6e72e11b7c2a7c648a9599e9e912a6f8"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>hd_r_rot</b></td></tr>
<tr class="separator:a6e72e11b7c2a7c648a9599e9e912a6f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2406329f82787e92aa8c3cfab10bda70"><td class="memItemLeft" align="right" valign="top"><a id="a2406329f82787e92aa8c3cfab10bda70"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>hd_l_rot</b></td></tr>
<tr class="separator:a2406329f82787e92aa8c3cfab10bda70"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa8801df8ff914baf5a07643afe6b80ca"><td class="memItemLeft" align="right" valign="top"><a id="aa8801df8ff914baf5a07643afe6b80ca"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>hd_r_rot_body</b></td></tr>
<tr class="separator:aa8801df8ff914baf5a07643afe6b80ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a860130a4374ecd0080a0e68830147f87"><td class="memItemLeft" align="right" valign="top"><a id="a860130a4374ecd0080a0e68830147f87"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>hd_l_rot_body</b></td></tr>
<tr class="separator:a860130a4374ecd0080a0e68830147f87"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a136c294262a7f8a4172c9efb5dec2627"><td class="memItemLeft" align="right" valign="top"><a id="a136c294262a7f8a4172c9efb5dec2627"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><b>dyn_M</b></td></tr>
<tr class="separator:a136c294262a7f8a4172c9efb5dec2627"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae7e6121409beacc2a4c1f3214012a467"><td class="memItemLeft" align="right" valign="top"><a id="ae7e6121409beacc2a4c1f3214012a467"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><b>dyn_M_inv</b></td></tr>
<tr class="separator:ae7e6121409beacc2a4c1f3214012a467"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab64e10d5034313bf4d7fc54e385686ad"><td class="memItemLeft" align="right" valign="top"><a id="ab64e10d5034313bf4d7fc54e385686ad"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><b>dyn_C</b></td></tr>
<tr class="separator:ab64e10d5034313bf4d7fc54e385686ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1d528b488460f27b8bac70d1e26d9ee1"><td class="memItemLeft" align="right" valign="top"><a id="a1d528b488460f27b8bac70d1e26d9ee1"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><b>dyn_G</b></td></tr>
<tr class="separator:a1d528b488460f27b8bac70d1e26d9ee1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a508a92b965d4044c361cc7a41afcb4b4"><td class="memItemLeft" align="right" valign="top"><a id="a508a92b965d4044c361cc7a41afcb4b4"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><b>dyn_Ag</b></td></tr>
<tr class="separator:a508a92b965d4044c361cc7a41afcb4b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a87b2bf2c470ab43b90913000ac0d4f65"><td class="memItemLeft" align="right" valign="top"><a id="a87b2bf2c470ab43b90913000ac0d4f65"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><b>dyn_dAg</b></td></tr>
<tr class="separator:a87b2bf2c470ab43b90913000ac0d4f65"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77dca70b3681c902798dc281c54a1791"><td class="memItemLeft" align="right" valign="top"><a id="a77dca70b3681c902798dc281c54a1791"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><b>dyn_Non</b></td></tr>
<tr class="separator:a77dca70b3681c902798dc281c54a1791"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a186ab4dcf146680f38113f9cbd55de24"><td class="memItemLeft" align="right" valign="top"><a id="a186ab4dcf146680f38113f9cbd55de24"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>CoM_pos</b></td></tr>
<tr class="separator:a186ab4dcf146680f38113f9cbd55de24"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8c15990b1d6a9bfdbeea23bdc7edef0a"><td class="memItemLeft" align="right" valign="top"><a id="a8c15990b1d6a9bfdbeea23bdc7edef0a"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>inertia</b></td></tr>
<tr class="separator:a8c15990b1d6a9bfdbeea23bdc7edef0a"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock">
<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8h_source.html#l00025">25</a> of file <a class="el" href="pino__kin__dyn_8h_source.html">pino_kin_dyn.h</a>.</p>
</div><h2 class="groupheader">Member Data Documentation</h2>
<a id="a1a645b13e20a97675f7d7f88ce32d3e2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1a645b13e20a97675f7d7f88ce32d3e2">&#9670;&nbsp;</a></span>motorName</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">const std::vector&lt;std::string&gt; Pin_KinDyn::motorName</td>
        </tr>
      </table>
</div><div class="memdoc">
<b>Initial value:</b><div class="fragment"><div class="line">={<span class="stringliteral">&quot;J_arm_l_01&quot;</span>,<span class="stringliteral">&quot;J_arm_l_02&quot;</span>,<span class="stringliteral">&quot;J_arm_l_03&quot;</span>, <span class="stringliteral">&quot;J_arm_l_04&quot;</span>, <span class="stringliteral">&quot;J_arm_l_05&quot;</span>,</div>
<div class="line">                                              <span class="stringliteral">&quot;J_arm_l_06&quot;</span>,<span class="stringliteral">&quot;J_arm_l_07&quot;</span>,<span class="stringliteral">&quot;J_arm_r_01&quot;</span>, <span class="stringliteral">&quot;J_arm_r_02&quot;</span>, <span class="stringliteral">&quot;J_arm_r_03&quot;</span>,</div>
<div class="line">                                              <span class="stringliteral">&quot;J_arm_r_04&quot;</span>,<span class="stringliteral">&quot;J_arm_r_05&quot;</span>,<span class="stringliteral">&quot;J_arm_r_06&quot;</span>, <span class="stringliteral">&quot;J_arm_r_07&quot;</span>,</div>
<div class="line">                                              <span class="stringliteral">&quot;J_head_yaw&quot;</span>,<span class="stringliteral">&quot;J_head_pitch&quot;</span>,<span class="stringliteral">&quot;J_waist_pitch&quot;</span>,<span class="stringliteral">&quot;J_waist_roll&quot;</span>, <span class="stringliteral">&quot;J_waist_yaw&quot;</span>,</div>
<div class="line">                                              <span class="stringliteral">&quot;J_hip_l_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_l_yaw&quot;</span>, <span class="stringliteral">&quot;J_hip_l_pitch&quot;</span>, <span class="stringliteral">&quot;J_knee_l_pitch&quot;</span>,</div>
<div class="line">                                              <span class="stringliteral">&quot;J_ankle_l_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_l_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_r_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_r_yaw&quot;</span>,</div>
<div class="line">                                              <span class="stringliteral">&quot;J_hip_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_knee_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_r_roll&quot;</span>}</div>
</div><!-- fragment -->
<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8h_source.html#l00028">28</a> of file <a class="el" href="pino__kin__dyn_8h_source.html">pino_kin_dyn.h</a>.</p>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="pino__kin__dyn_8h_source.html">pino_kin_dyn.h</a></li>
<li><a class="el" href="pino__kin__dyn_8cpp_source.html">pino_kin_dyn.cpp</a></li>
</ul>
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
</small></address>
</body>
</html>
